Modular prosthesis system

ABSTRACT

Disclosed herein is an adjustable prosthesis system that includes a plurality of interconnected major and minor modular links configured to form a socket around the limb of a user, the socket includes a configurable network of modular link connections; at least one tensioning element securing the plurality of modular links to the user&#39;s limb; and at least one tensioner attached to one or more tensioning elements, configured to allow for tension adjustment by the user without clinical assistance.

REFERENCE TO RELATED APPLICATION

This application claims the benefit of co-pending, prior-filed U.S. Provisional Patent Application No. 63/023,375, filed May 12, 2020, the entire contents of which are incorporated by reference.

TECHNICAL FIELD

The present disclosure relates to prosthetics and prosthesis systems.

BACKGROUND

Prosthesis systems (or prosthetic devices) connect a residual limb of a user to a prosthetic limb. A typical prosthesis system may include a custom fitted socket that enwraps the residual limb, the prosthesis or artificial limb, cuffs and belts that attach it to the body, and prosthetic liners that cushion the area which contacts the skin. Prosthesis systems and specifically the sockets frequently must be custom made to securely fit the residual limb of a patient. Sockets frequently are fit by a clinical prosthetist or other specialist having extensive training in molding, aligning, and fitting a socket to an individual's limb.

Current prosthetic sockets require a complex and labor-intensive manufacturing process. For example, in some cases, a prosthetist takes several measurements of the residual limb to create a plaster cast of the residual limb. From there, a thermoplastic sheet is heated and vacuum-formed around the plaster mold to form a test socket. The prosthetist works with the patient to ensure the test socket fits, makes required modifications, and then creates a permanent socket. Optimal socket fit between the residual limb and socket is critical because it impacts the functionality and usability of the prosthesis system. If the socket is too loose, the socket may have inadequate contact and create pockets between the residual limb and socket or liner. Pockets can accumulate sweat which damages the skin and results in rashes. If the socket is too tight, the socket creates increased contact pressure on the skin causing ulceration.

Current prosthesis systems are unable to adjust to changes in an individual's limb size, and consequently patients may require additional consultation with a prosthetist to remold, align, and fit a new socket, incurring significant cost.

SUMMARY

In one independent aspect, an adjustable prosthesis system includes a plurality of interconnected major and minor modular links configured to form a socket around the limb of a user, the socket includes a configurable network of modular link connections; at least one tensioning element securing the plurality of modular links to the user's limb; and at least one tensioner attached to one or more tensioning elements, configured to allow for tension adjustment by the user without clinical assistance.

In some aspects, the prosthesis system further includes a mechanical coupling element to join the socket and prosthesis, distal to a joint of a user, by attaching to the plurality of interconnecting major and minor modular links.

In some aspects, the mechanical coupling element is formed by a configuration of interconnecting modular links.

In some aspects, the modular links include a tensioning anchor on the modular link side distal to the user's limb that is configured to permit guidance of a tensioning element through a center of the tensioning anchor so as to create an adjustable suspension.

In some aspects, the modular links are formed from one or more of acrylonitrile butadiene styrene, polyether ether ketone, polyetherketoneketone, polyetherimide, acrylonitrile styrene acrylate, polyethylene terephthalate, polycarbonate, and polylactic acid.

In some aspects, the modular links are configured to permit a connection of a functional module dock which is configured to hold one or more functional elements, including one or more of GPS tracking device, interactive display, personal cellular phone, motor, batteries, data storage and communication device, graphical user interface, buttons, microphone, speaker, and processing unit.

In some aspects, the minor modular links each include a central tube, a minor solid sector extending from and wrapping around approximately one-third of an exterior side of the central tube, a beam extending from the diametrically opposite exterior side of the central tube, and a curved member arcing from one radius line of the minor solid sector's end, through the beam's lateral end, to the other radius line of the minor solid sector's end. The major modular links also each include a central tube, a major solid sector extending from and wrapping around approximately two-thirds of an exterior side of the central tube, a beam extending from the diametrically opposite exterior side of the central tube, and a curved member arcing from one radius line of the major solid sector's end, through the beam's lateral end, to the other radius line of the major solid sector's end.

In some aspects, neither the major nor minor modular links includes a beam, and the curved member extends from one radius line of the solid sector's end to the other radius line of the solid sector's end.

In some aspects, the minor solid sector has a hollow linking channel running along the minor solid sector and configured so that another modular link may be connected by inserting either the curved member of another modular link alone or the curved member and beam of the other modular link therein. The major solid sector also has two hollow linking channels along either side of the major solid sector and configured so that other modular links may be connected into one or both hollow linking channels by inserting either the curved member of another modular link alone or the curved member and beam of the other modular link therein.

In some aspects, the hollow linking channels of the major and minor solid sectors provide a directionally biased snapping mechanism configured to allow insertion of another modular link therein.

In some aspects, the direction and axis of insertion is orthogonal to the direction and axis of the link.

In some aspects, the range of motion of the prosthesis system can be configured by the connection of modular links, wherein insertion of both the curved member and the beam of a first modular link into the hollow link channel of a second modular link limits range of motion, and wherein insertion of only the curved member of a first modular link into the hollow link channel of a second modular link enables range of motion.

In some aspects, the major and minor modular links include diametrically opposite notches on either side of the hollow linking channel allowing for further range of motion orthogonal to the axis of the link.

In some aspects, a friction element partially overlaps the central tube and fully overlaps the minor or major solid sector of the modular link, and the friction element is configured to distribute load and reduce how tight the socket must be configured to remain on a user's limb.

In some aspects, the central tube is configured to allow connection of a replaceable friction element medial to the user's limb via an insertable member that fits into the tube link.

In some aspects, the central tube is configured to contain a sensor system medial to the user's limb, with a plurality of wires of the sensor system running through the central tube and out of a distal side of the central tube, and the sensor system is in communication with a processing unit.

In some aspects, the central tube is configured to contain a stimulating element that is controlled by a processing unit on the basis of input received at the sensor system.

In some aspects, the one or more tensioning elements include a lacing system.

In some aspects, the tensioner includes a ratcheting dial tensioner that is operable using one hand.

In some aspects, the prosthesis system further includes an outer load-sharing structure that redistributes load to improve load spread and transfer around the user's limb.

In some aspects, the outer load-sharing structure is configured to secure the socket to the limb so that the tensioning element isn't necessary.

In another independent aspect, a prosthesis system includes a plurality of interconnected links cooperating to form an interface configured to engage a residual limb, the links being capable of being coupled to one another in a plurality of configurations.

In some aspects, the prosthesis system further includes at least one tensioning element for exerting a force on at least some of the links to secure the plurality of links to the limb.

In some aspects, the tensioning element includes an elongated member that is coupled to at least some of the links.

In some aspects, the prosthesis system further includes at least one tensioner coupled to the tensioning element, the tensioner being operable to adjust the force exerted on the links.

In some aspects, the tensioner is a ratcheting dial operable to be rotated.

In some aspects, each of the plurality of interconnected links is operable to be selectively coupled to at least two others of the plurality of interconnected links.

In some aspects, the plurality of interconnected links includes a plurality of first links and a plurality of second links.

In some aspects, each first link is operable to be selectively coupled to another of the first links and is operable to be selectively coupled to at least one of the second links.

In yet another independent aspect, a link for a prosthesis system includes a first coupling portion including a male interface for engaging a female interface of another link; and a second coupling portion including a female interface for engaging a male interface of another link.

In some aspects, the male interface of the first coupling portion includes a shaft and the female interface of the second coupling portion includes a receptacle.

In some aspects, the prosthesis system further includes a central portion, wherein the first coupling portion extends along s first angular portion around the central portion, and wherein the second coupling portion extends along a second angular portion around the central portion.

In some aspects, the first angular portion extends along one-third of a peripheral edge of the link, and wherein the second angular portion extends along two-thirds of a peripheral edge of the link.

In some aspects, the first angular portion extends along two-thirds of a peripheral edge of the link, and wherein the second angular portion extends along one-third of a peripheral edge of the link.

In some aspects, the first coupling portion includes two male interfaces, the male interfaces engaging female interfaces of two separate links.

In some aspects, the second coupling portion includes two female interfaces, the female interfaces engaging male interfaces of two separate links.

In some aspects, the prosthesis system further includes a central portion and a beam extending radially outwardly from a central portion.

In some aspects, the prosthesis system further includes a central portion and a shaft passing through the central portion, the shaft engaging a tensioning element for exerting a force on the link.

In some aspects, the shaft is rotatable relative to the central portion.

In some aspects, the prosthesis system further includes a friction element positioned adjacent one side of the central portion and configured to be positioned between the link and a limb, the friction element configured to inhibit relative movement between the link and the limb.

In still another independent aspect, a link for a prosthesis system includes a first portion including a male coupling feature; a second portion including a female coupling feature; and a third portion including one of a male coupling feature and a female coupling feature.

In some aspects, the male coupling feature includes a shaft and the female coupling feature includes a receptacle.

In some aspects, the prosthesis system further includes a central portion positioned between the first portion, the second portion, and the third portion, wherein the first portion extends along a first peripheral portion, and wherein the second portion extends along a second peripheral portion, and the third portion extends along a third peripheral portion.

In some aspects, the first peripheral portion extends along one-third of a peripheral edge of the link, and wherein the second peripheral portion extends along two-thirds of a peripheral edge of the link.

In some aspects, the first peripheral portion extends along two-thirds of a peripheral edge of the link, and wherein the second peripheral portion extends along one-third of a peripheral edge of the link.

In some aspects, the third portion includes a male coupling feature.

In some aspects, the third portion includes a female coupling feature.

In some aspects, the prosthesis system further includes a central portion and a beam extending radially outwardly from a central portion, the beam separating the first portion from one of the second portion and the third portion.

In some aspects, the prosthesis system further includes a central portion and a shaft passing through the central portion, the shaft engaging a tensioning element for exerting a force on the link.

In some aspects, the shaft is rotatable relative to the central portion.

In some aspects, the prosthesis system further includes a friction element positioned adjacent one side of the central portion and configured to be positioned between the link and a limb, the friction element configured to inhibit relative movement between the link and the limb.

BRIEF DESCRIPTION OF THE FIGURES

Features and aspects of the disclosure will become apparent to one skilled in the art by consideration of the detailed description and accompanying figures, in which:

FIG. 1 is a perspective view of a prosthesis system of interconnected links forming a socket.

FIG. 2 is a perspective view of the prosthesis system of interconnected links of FIG. 1 , forming a socket around a residual limb.

FIG. 3 is a perspective view of a mechanical coupling element including interconnected links positioned on a residual limb.

FIG. 4 is a perspective view of the prosthesis system of FIG. 1 further including a functional module dock and a tensioner, and the mechanical coupling element of FIG. 3 connects to links that form a socket.

FIG. 5 is a perspective view of the prosthesis system of FIG. 4 further including one or more tensioning elements of a lacing system that engage tensioning anchors on the links and the tensioner.

FIG. 6 shows perspective, plan, elevation, and cross-sectional views of a major link according to one example.

FIG. 7 shows perspective, plan, elevation, and cross-sectional views of a minor link according to one example.

FIG. 8 shows perspective views of the minor link of FIG. 7 and a tensioning anchor.

FIG. 9 shows perspective views of the major link of FIG. 6 and a tensioning anchor.

FIG. 10 shows side view of the minor link and a tensioning anchor of FIG. 8 .

FIG. 11 shows exploded views of a minor link, including a frictional element and sensor.

FIG. 12 shows exploded views of a major link, including a frictional element and sensor.

FIG. 13 shows perspective views of a system of interconnected links according one example.

FIG. 14 shows perspective, plan, and elevation views of a functional modular device according to one example, having curved members and hollow linking channels.

FIG. 15 shows perspective, plan, and elevation views of two links coupled together in a first exemplary configuration, with a beam and curved member of one link engaging a hollow linking channel of another link.

FIG. 16 shows perspective, plan, and elevation views of two links coupled together in a second exemplary configuration, with only a curved member of one link engaging a hollow linking channel of another link.

FIG. 17 is a perspective view of a unitary mechanical coupling element according to another example, including an interface for connecting to a prosthesis on one side and a plurality of links on another side.

FIG. 18 is a perspective view of the prosthesis system of FIG. 2 coupled to the mechanical coupling element of FIG. 17 .

FIG. 19 is a perspective view of a load-sharing structure surrounding a prosthesis system including links.

FIG. 20 shows perspective views of a major links coupled with two other links in an exemplary configuration, with a beam and curved member of one link engaging a hollow linking channel of the major link, and only a curved member of another link engaging another hollow linking channel of the major link.

FIG. 21 shows perspective, plan, and elevation views of the two links of FIG. 16 , illustrating a range of motion of one link relative to the other link, and illustrating an asymmetric nature of a notch.

FIG. 22 shows perspective, plan, and elevation views of links according to one example, the links having no beams.

FIG. 23 shows a perspective view of a prosthesis system further including a sensor system and processing unit.

DETAILED DESCRIPTION

Before any embodiments of the disclosure are explained in detail, it is to be understood that the disclosure is not limited in its application to the details of construction and the arrangement of components set forth in the following description or illustrated in the following drawings. The disclosure is capable of other embodiments and of being practiced or of being carried out in various ways. Also, it is to be understood that the phraseology and terminology used herein is for the purpose of description and should not be regarded as limiting. Use of “including” and “comprising” and variations thereof as used herein is meant to encompass the items listed thereafter and equivalents thereof as well as additional items. Unless specified or limited otherwise, the terms “mounted,” “connected,” “supported,” and “coupled” and variations thereof are used broadly and encompass both direct and indirect mountings, connections, supports, and couplings.

The present disclosure relates to a modular and/or adjustable prosthesis system 100. FIG. 1 shows an example of the prosthesis system 100 including interconnected links. The links may be interconnected in a desired configuration to form a socket that engages (e.g., wraps around) a limb 200 of a user. In the illustrated example, as shown in FIG. 3 , a portion of the prosthesis system 100 includes a mechanical coupling element 50 for engaging a prosthesis (e.g., a prosthetic limb). In some embodiments (see FIGS. 17 and 18 ), the mechanical coupling element 50 includes a unitary end member 55 (e.g., a plate) including a connection interface 60 for attaching to a prosthesis (not shown) on one side of the end member 55, and modular links coupled to another side. In addition, in the illustrated example best shown in FIG. 5 , the prosthesis system 100 also includes one or more tensioning elements 510 that may secure the plurality of links to the limb 200. One or more tensioners 520 are attached to the tensioning elements 510 and are operable to allow adjustment of a force exerted on the limb 200 by the prosthesis system (e.g., tighten the socket without clinical assistance). In the illustrated embodiment, the tensioning elements 510 are an elongated element (e.g., cable or wire).

Modular System of Links

As shown in FIGS. 6-12 , the links can be configured in a number of ways to create an adjustable custom socket. In one example, the prosthesis system 100 includes multiple types of links; for example, a first link or minor link 300 and a second link or major link 400.

As best illustrated in FIG. 7 , minor links 300 include a central portion 310, and the central portion 310 extends along a central axis 320. A first coupling portion (e.g., a male portion, or shaft or curved member 330) extends through a first angular range about the central portion 310, and a second coupling portion (e.g., a female portion, or a receptacle, or a disk portion, or solid sector 340) extends through a second angular range about the central portion 310. In the illustrated embodiment, the curved member 330 is radially spaced apart from the central portion 310 and extends along approximately one-third (e.g., 120 degrees) of the angular range about the central axis 320, and the solid sector 340 extends along approximately two-thirds (e.g., 240 degrees) of the angular range about the central axis 320. A beam 350 extends radially outward from an exterior side of the central portion 310 that is diametrically opposite the angular center of the solid sector 340, and the curved member 330 extends arcuately from one end of the minor solid sector 340, through the beam's lateral end, to the other end of the minor solid sector 340.

As illustrated in FIG. 6 , major links 400 include a central portion 410, and the central portion 410 extends along a central axis 420. A first coupling portion (e.g., a female portion, or receptacle, or disk portion, or a solid sector 440) extends through a first angular range about the central portion 410, and a second coupling portion (e.g., a male portion, or shaft, curved member 430) extends through a second angular range about the central portion 410. In the illustrated embodiment, the solid sector 440 extends along approximately two-thirds (e.g., 240 degrees) of the angular range about the central axis 420, and the curved member 430 is radially spaced apart from the central portion 410 and extends along approximately one-third (e.g. 120 degrees) of the angular range about the central axis 420. A beam 450 extends radially outwardly from an exterior side of the central portion 410 that is diametrically opposite the angular center of the solid sector 440. The curved member 430 extends arcuately from one end of the major solid sector 440, through the beam's lateral end, to the other end of the major solid sector 440.

In some embodiments, each link includes three peripheral regions. One of the regions includes a male coupling feature (e.g., the curved member 430), and another of the regions includes a female coupling feature (e.g., the channel 460). Some links may include a third region having a second male coupling feature, while other links may include a second female coupling feature.

FIG. 6 includes cross-sectional views of the major link 400, and FIG. 7 includes cross-sectional views of the minor link 300. In the illustrated embodiments, the links 300, 400 are each symmetric about a plane (e.g., the section plane “A” of link 400 and section plane “C” of link 300). The links are not limited to symmetric shapes and are not limited to circular shapes. For example, a link may include a portion having a straight member instead of a curved member 330, 430 in a triangular configuration. A user can select the link most appropriate to achieve a desired socket configuration. Also, in some embodiments (see FIG. 22 ) the system may include links 2100, 2200 that include a different number of beams and curved members to allow for variation in the number of interconnecting links.

In some examples, the minor link 300 includes a female coupling feature (e.g., a channel 360) that extends at least partially along the solid sector 340. As illustrated in FIGS. 15, 16, and 20 , the channel 360 may be configured so that another link may be connected by inserting a curved member 330, 430 of another link alone or inserting the curved member 330, 430 and associated beam 350 of another link 300. In some examples, the major link 400 may include two hollow linking channels 460 that extend at least partially along the solid sector 440. This allows two links (either a minor link 300, another major link 400, or some combination thereof) to be coupled to a major link 400. Other embodiments of the links may incorporate a different number of channels allowing for variation in the number of interconnecting links. In the illustrated embodiments, each channel 360, 460 includes a radial slot 365, 465 (FIG. 8A, FIG. 9A) for receiving a beam 350, 450 of another link. Furthermore, each channel may contain a directionally biased snapping mechanism to couple a link once a male coupling portion is inserted. In the illustrated embodiment, the direction and axis of insertion 370, 470 may be orthogonal to the direction and axis of linkage 2110. This permits a maximum load that is greater than the force required to couple the links because the direction of insertion is different than the direction of the linkage. For example, a maximum load is higher in an embodiment in which links insert horizontally but link vertically. A more detailed discussion on the range of motion of a modular linkage is described below.

The disclosed adjustable prosthesis system 100 provides a cost-effective and easy-to-use means of adjusting the size and shape of the socket to correspond with changes in a limb 200. The links may be assembled in various configurations to fit the limb, reducing the effort associated with remolding, remanufacturing, realigning, and/or refitting a socket if a limb changes in size. Instead, individual links easily integrate and separate allowing for seamless changes in the socket's length, scale, or shape to accommodate changes to the limb. In some cases, the prosthesis system may be adjustable without requiring consultation by a prosthetist or specialist, and the adjustment process is less labor-intensive.

In addition, the links are designed to be cost effective. The links 110 are discrete units or modules that can be manufactured in large scale to assemble the prosthesis system. In some embodiments a link 110 can be constructed of one or more of acrylonitrile butadiene styrene, poly ether ketone, polyetherketoneketone, polyetherimide, acrylonitrile styrene acrylate, polyethylene terephthalate, polycarbonate, polylactic acid, and other material known or used by those skilled in the art. An embodiment of a link may be constructed from an injection mold allowing for mass-production. An embodiment of a link measures 23 mm in diameter but embodiments may range in size from 5 mm to 40 mm in diameter. Consequently, the links may have a low cost per unit because they require little material to make. Moreover, each individual link may be asymmetric in design, giving rise to anisotropic global behaviors for the assembled socket, allowing it to serve multiple different functions. For example, a link also controls the rigidity and range of motion of the socket. This is described in more detail below. In sum, the links can be mass-produced to be sold at very low cost and assembled with little to no expert assistance.

Referring now to FIG. 3 , an embodiment of the mechanical coupling element 50 includes interconnecting links 110. In other embodiments, such as in FIGS. 17 and 18 , the mechanical coupling element may include a unitary element 55. One side of the mechanical coupling element 55 will connect to the system of links 110 that comprise the socket using the same linking mechanism as individual links. For example, the unitary element 55 may include a curved member alone or a curved member and beam (as described above with respect to links 300, 400) can be inserted into channels of a plurality of links that form the socket. The other side of the mechanical coupling element includes an interface 60 for connecting to the prosthesis using coupling mechanisms known to persons of ordinary skill in the art.

Elements Controlling the Prosthesis System's Fit

In some embodiments, such as the one illustrated in FIG. 5 , the prosthesis system 100 includes tensioning elements 510 to secure the system 100 of links 110 to the limb 200. The tensioning elements 510 together may include a lacing system that wraps around the socket formed by the system 100 of links 110. At least some of the links support tensioning anchors 1010. In the illustrated embodiment, the tensioning anchors 1010 pass through from a medial side of a link 110 to a side distal to the limb 200. As best shown in FIGS. 8-12 , in the illustrated embodiment each tensioning anchor 1010 includes a shaft positioned in a bore extending through the central portion 310, 410 of the links 300, 400. The shaft of the tensioning anchor 1010 may include a coupling feature (e.g., an opening 1020) through which the tensioning element 510 passes to create an adjustable suspension. In turn, this permits the tension element to slide as its length changes, resulting in greater or lesser hoop stress and circumferential pressure on the limb 200.

Referring again to FIG. 5 , the tensioning elements are attached to a tensioner 520 which is configured to allow adjustment of the tension. In an embodiment, the tensioner 520 may be configured as a ratcheting dial that is operable to be rotated to increase or decrease a tension in the tensioning element 510. The tensioning system allows adjustment of the socket's fit without clinical assistance, and may be adjusted with one hand, thereby reducing the need for another individual's assistance. In some embodiments, the tensioning elements 510 can be constructed of one or more of stainless-steel tensioning cable, other metal wire, string, nylon, or flexible plastic.

In some embodiments, as shown in FIGS. 11 and 12 , a friction element 380, 480 can be coupled to at least some of the links 300, 400. In the illustrated embodiment, the friction element 380, 480 partially overlaps an end of the central portion 310, 410 and fully overlaps a side of the solid sector 340, 440 of the associated link. In another embodiment, the central tube is configured to allow the connection of a replaceable friction element medial to the limb via an insertable member that fits into the central tube. The friction element may include one or more of silicon, polyurethane, rubber, or any material known or used by those having skill in the art. The friction element may be configured to distribute load and reduce how tight the socket must be configured to a limb 200. The friction element provides friction between the associated link and the layer below the friction element. In some embodiments this layer may be a user's skin. In others the prosthesis system includes a sleeve or conformal undercoating between the limb and the links to reduce contact pressure. Therefore, the material may be soft and have a high coefficient of friction. The undercoating may be constructed of one or more of foam, rubber, silicone, polyurethane, and other materials that reduce contact pressure. The friction element and undercoating allow the socket to remain in place around the user's limb and provide a form of padding to reduce pressure from the socket on the user's skin.

FIG. 19 illustrates an embodiment including an outer load-sharing structure 1910 that redistributes load across the socket to increase the load-bearing capacity of the prosthesis system 100. The structure 1910 increase the rigidity of the socket and reduces the possibility of buckling. In some embodiments, the outer load-sharing structure 1910 may also be configured to secure the socket to the limb so that a tensioning element isn't needed. Furthermore, in some embodiments the outer load-sharing structure 1910 may also function as a covering over the prosthesis 100 which a user can customize and replace.

Current prosthesis systems must be carefully molded by a prosthetist to comfortably fit a user's limb and require the use of padding liners for comfort. The disclosed system offers more versatile and granular means of achieving such comfort. The prosthesis system can be used with friction elements alone or with a sleeve. In addition, the user can use the tensioning system to adjust tension across the socket. The tensioning system allows the socket to adapt to volumetric fluctuations in the size of a limb without the need to add or remove padding liners. Finally, the outer load-bearing structure can also reduce contact pressure.

Elements Controlling the Prosthetic System's Range of Motion

The configurable and asymmetric nature of the links 110 permits more precise control over the range of motion of the prosthesis system. The system of links, when assembled in a specific and engineered configuration, results in the formation of a metamaterial, whereby the material as a whole behaves very differently than each component would behave on its own. For example, the insertion of a curved member 330 of a first link into a channel 460 of a second link via the directionally biased snapping mechanism with both the curved member 330 and beam 350 restricts the range of motion of the interconnected links to zero degrees of freedom. If the links are coupled by connecting only a curved member 330 to a solid sector 420, the interconnected links retain one degree of freedom, the yaw. In a three-dimensional plane this refers to movement about a Y-axis. Therefore, the number of beams 350 in a modular linkage may control the range of motion within a configured socket.

Referring now to FIGS. 15 and 16 , in some embodiments at least some of the links 300, 400 further include notches 1520 located at diametrically opposite ends of the channels 360, 460. The notches 1520 allow for additional range of motion. When a link having the notches is linked via a curved member 330, 430 alone, the interconnected links have a second degree of freedom, the pitch, 2110 as illustrated in FIG. 21 . On a three-dimensional plane this refers to movement about a X-axis. However, the asymmetric nature of the notches 1520 may limit the connected links 300 to either pitch-up or pitch-down motion. Embodiments of notches may vary in size and position to allow for varying ranges of motion. Collectively, these features may allow a user or prosthetist to configure the prosthesis system based on the needs of the user. For example, some users might prefer additional range of motion in the socket, while others prefer a more rigid structure. If the user's preference changes, they can easily reconfigure the prosthesis system. This control over range of motion permits formation of different global mechanical properties for the socket, either in part or in whole. Some configurations of modular linkages would give rise to tight radii of curvature and low stiffness, while other configurations would give rise to straight and stiff sections. The prosthesis system allows for a wide range of socket mechanical properties, variable within user-defined regions of a single socket, to be composed from a single material with very low unique part count.

Functional Elements

The prosthesis system 100 may be configured to connect to a functional element 2320. Functional elements may include one or more of GPS tracking device, interactive display, personal cellular phone, motor, batteries, data storage and communication device, graphical user interface, buttons, microphone, speaker, processing unit, and other elements known or used by a person skilled in the art. In some embodiments the prosthesis system attaches to a functional element through a functional module dock, 1410 as illustrated in FIG. 14 . In others, the functional element may attach without the use of a dock. An embodiment of the functional module dock includes curved members 1430 and channels 1460 along the exterior edge of the dock 1410. This allows the functional module to connect to links using the same directional snapping mechanism described above. Integration of functional elements with the prosthesis system 100 provides users with more functionality and may allow clinicians to monitor patients more closely.

In some embodiments, the central portion 310, 410 of each link may be configured to support a sensor. For example, as shown in FIGS. 11 and 12 , a sensor 1170, 1270 may be coupled to a shaft extending through the central portion 310, 410 and be positioned medial to the limb. FIG. 23 illustrates an embodiment of the disclosed prosthesis system configured with a sensor system. Wires 2310 of the sensor system run through the central tube and out the distal side of the central tube. The sensor system communicates with a processing unit 2320 to collect user data. For example, data may include the user's heart rate, temperature, blood pressure, and the prosthesis angle and moment. The disclosed sensor system improves on currently available systems because it may be mass-produced at low cost, requires little customization, and significantly reduces the effort and skill prosthetists require to implement such system. Furthermore, the modular and repeating nature of the socket assembly provides a system by which sensors and stimulating elements can be selectively and precisely located and relocated along the user's limb without the need to embed these elements in the socket during manufacture. This permits the disclosed prosthesis system to be modified over time without the need to manufacture a new socket. In some embodiments the processing unit is a system for data storage. In others the processing unit allows for data analysis and communicates results to a clinical provider and/or the user. Furthermore, an embodiment of the sensor system incorporates artificial intelligence to analyzes and learn from data collected by the sensor system.

Prosthetic limbs require skilled operation that a patient must learn over time through extensive physical therapy. One issue patients face is the inability to feel sensation in the prostheses. Another issue is that patients experience phantom limb syndrome where the patient feels as if the amputated limb is still there. Consequently, performing even menial tasks requires active learning where the skill or task is explicitly practiced through a training regimen. Prosthesis embodiment refers to the ability of a user to operationalize a prosthesis as if it belonged to the body. Studies reveal that prosthesis embodiment is more likely to occur when the user engages in sensory learning. Sensory learning in this context refers to the application of sensory feedback on a patient's residual limb. Sensory feedback has been found to increase a user's willingness to use a prosthesis and leads to more active use.

Some prosthetic systems incorporate biofeedback that allows the user to “feel” through the prosthesis system. Specifically, sensors implanted on a user's residual limb can be used to provide physiologically appropriate sensory information to stimulate a patient's median and ulnar nerves enabling them to modulate the prosthesis without visual or auditory clues. Generally, these prosthesis systems integrate sensors on the socket wall, insert sensors inside the socket, or embed sensors into the socket wall. Inserting sensors inside the socket requires thin, yet durable technology which restricts the sensor options. Consequently, these systems tend to have poor accuracy and sensitivity. Integrating sensor systems on the socket wall and embedding sensors into the socket wall require extensive work by a skilled prosthetist that is expensive and time consuming. Finally, prosthetic liners with sensor systems must be custom made to a user's requirements to avoid discomfort which requires a labor-intensive and expensive process.

Some prosthesis systems utilize microprocessors to interpret and analyze signals from angle and moment sensors. The microprocessors use these signals to determine the type of motion the patient is engaged in and modulates joints in the prosthesis accordingly, by varying the resistance to regulate the extension and compression of the prosthesis.

In some embodiments, one or more links may support a stimulating element (for example, in a manner similar to the sensors 1170, 1270) that is controlled by a processing unit on the basis of input received at the sensor system. Individuals often have a hard time learning how to use a prosthetic limb because they are unable to experience sensations in the prosthesis. Some even experience phantom limb syndrome where they “feel” their missing limb in a perceived position different from the prosthesis. Consequently, a user requires a lot of time to learn how to operate a prosthesis. The stimulating element addresses these issues by stimulating a user's residual limb based on input from the sensor system. This allows for a more natural approach to sensory learning which enables users to engage with prostheses more closely and master use of them more efficiently. In addition, a clinical expert may utilize the stimulating element to assist with a patient's physical therapy.

Although aspects have been described in detail with reference to certain embodiments, a person skilled in the relevant art will recognize that other variations, modification, configurations, and arrangements exist within the spirit and scope of one or more independent aspects of the disclosure. It will be apparent to a person skilled in the relevant art that the disclosure can be employed in a variety of systems and applications. 

1.-29. (canceled)
 30. A link for a prosthesis system, the link comprising: a first coupling portion including a male interface for engaging a female interface of another link; and a second coupling portion including a female interface for engaging a male interface of another link.
 31. The link of claim 30, wherein the male interface of the first coupling portion includes a shaft and the female interface of the second coupling portion includes a receptacle.
 32. The link of claim 30, further comprising a central portion, wherein the first coupling portion extends along s first angular portion around the central portion, and wherein the second coupling portion extends along a second angular portion around the central portion.
 33. The link of claim 32, wherein the first angular portion extends along one-third of a peripheral edge of the link, and wherein the second angular portion extends along two-thirds of a peripheral edge of the link.
 34. The link of claim 32, wherein the first angular portion extends along two-thirds of a peripheral edge of the link, and wherein the second angular portion extends along one-third of a peripheral edge of the link.
 35. The link of claim 30, wherein the first coupling portion includes two male interfaces, the male interfaces engaging female interfaces of two separate links.
 36. The link of claim 30, wherein the second coupling portion includes two female interfaces, the female interfaces engaging male interfaces of two separate links.
 37. The link of claim 30, further comprising a central portion and a beam extending radially outwardly from a central portion.
 38. The link of claim 30, further comprising a central portion and a shaft passing through the central portion, the shaft engaging a tensioning element for exerting a force on the link.
 39. The link of claim 38, wherein the shaft is rotatable relative to the central portion.
 40. The link of claim 38, further comprising a friction element positioned adjacent one side of the central portion and configured to be positioned between the link and a limb, the friction element configured to inhibit relative movement between the link and the limb.
 41. A link for a prosthesis system, the link comprising: a first portion including a male coupling feature; a second portion including a female coupling feature; and a third portion including one of a male coupling feature and a female coupling feature.
 42. The link of claim 41, wherein the male coupling feature includes a shaft and the female coupling feature includes a receptacle.
 43. The link of claim 41, further comprising a central portion positioned between the first portion, the second portion, and the third portion, wherein the first portion extends along a first peripheral portion, and wherein the second portion extends along a second peripheral portion, and the third portion extends along a third peripheral portion.
 44. The link of claim 43, wherein the first peripheral portion extends along one-third of a peripheral edge of the link, and wherein the second peripheral portion extends along two-thirds of a peripheral edge of the link.
 45. The link of claim 43, wherein the first peripheral portion extends along two-thirds of a peripheral edge of the link, and wherein the second peripheral portion extends along one-third of a peripheral edge of the link.
 46. The link of claim 41, wherein the third portion includes a male coupling feature.
 47. The link of claim 41, wherein the third portion includes a female coupling feature. 48.-52. (canceled)
 53. The link of claim 41, further comprising a central portion and a beam extending radially outwardly from a central portion, the beam separating the first portion from one of the second portion and the third portion.
 54. The link of claim 41, further comprising a central portion and a shaft passing through the central portion, the shaft engaging a tensioning element for exerting a force on the link.
 55. The link of claim 54, wherein the shaft is rotatable relative to the central portion.
 56. The link of claim 54, further comprising a friction element positioned adjacent one side of the central portion and configured to be positioned between the link and a limb, the friction element configured to inhibit relative movement between the link and the limb. 